fix claw test

fusion479 · Dec 22, 2024 · 5ae25a9 · 5ae25a9
1 parent 260553c
commit 5ae25a9
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Showing 3 changed files with 7 additions and 8 deletions.
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CommandRobot.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/CommandRobot.java
@@ -143,8 +143,8 @@ public void configureCommands() {
                 new ClawReady(this.telemetry, this.claw)
         );
 
-        this.intakeAccept = new GamepadTrigger(GamepadKeys.Trigger.RIGHT_TRIGGER, d -> this.claw.setClawPower(-d), this.gamepad2);
-        this.intakeReject = new GamepadTrigger(GamepadKeys.Trigger.LEFT_TRIGGER, this.claw::setClawPower, this.gamepad2);
+        this.intakeAccept = new GamepadTrigger(GamepadKeys.Trigger.RIGHT_TRIGGER, d -> this.claw.setPower(-d), this.gamepad2);
+        this.intakeReject = new GamepadTrigger(GamepadKeys.Trigger.LEFT_TRIGGER, this.claw::setPower, this.gamepad2);
 
         this.liftIncrement = new LiftIncrement(this.telemetry, this.lift);
 

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/test/ClawTest.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/opmodes/test/ClawTest.java
@@ -8,29 +8,26 @@
 import org.firstinspires.ftc.teamcode.commands.claw.ClawDown;
 import org.firstinspires.ftc.teamcode.commands.claw.ClawUp;
 import org.firstinspires.ftc.teamcode.subsystems.Claw;
-import org.firstinspires.ftc.teamcode.subsystems.Extendo;
 import org.firstinspires.ftc.teamcode.utils.commands.GamepadTrigger;
 import org.firstinspires.ftc.teamcode.utils.commands.OpModeCore;
 
 @TeleOp(name = "Claw Test")
 public class ClawTest extends OpModeCore {
     private Claw claw;
-    private Extendo extendo;
     private GamepadEx gamepad;
     private GamepadTrigger intakeAccept, intakeReject;
 
     @Override
     public void initialize() {
         this.gamepad = new GamepadEx(super.gamepad1);
         this.claw = new Claw(super.hardwareMap, super.multipleTelemetry);
-        this.extendo = new Extendo(super.hardwareMap, super.multipleTelemetry);
 
         this.gamepad.getGamepadButton(GamepadKeys.Button.A).whenPressed(new ClawDown(super.multipleTelemetry, this.claw));
         this.gamepad.getGamepadButton(GamepadKeys.Button.Y).whenPressed(new ClawDown(super.multipleTelemetry, this.claw));
         this.gamepad.getGamepadButton(GamepadKeys.Button.DPAD_LEFT).whenPressed(new ClawUp(super.multipleTelemetry, this.claw));
 
-        this.intakeAccept = new GamepadTrigger(GamepadKeys.Trigger.RIGHT_TRIGGER, d -> this.claw.setClawPower(-d), this.gamepad);
-        this.intakeReject = new GamepadTrigger(GamepadKeys.Trigger.LEFT_TRIGGER, this.claw::setClawPower, this.gamepad);
+        this.intakeAccept = new GamepadTrigger(GamepadKeys.Trigger.LEFT_TRIGGER, d -> this.claw.setPower(-d), this.gamepad);
+        this.intakeReject = new GamepadTrigger(GamepadKeys.Trigger.RIGHT_TRIGGER, this.claw::setPower, this.gamepad);
     }
 
     @Override
@@ -40,6 +37,8 @@ public void runOpMode() throws InterruptedException {
 
         super.waitForStart();
 
+        this.intakeAccept.startThread(this);
+        this.intakeReject.startThread(this);
         while (opModeIsActive()) {
             super.resetCycle();
             CommandScheduler.getInstance().run();

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Claw.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Claw.java
@@ -37,7 +37,7 @@ public void setPosition(double position) {
         this.clawRotate.setPosition(position);
     }
 
-    public void setClawPower(double power) {
+    public void setPower(double power) {
         this.leftClaw.setPower(power);
         this.rightClaw.setPower(-power);
     }